Contact-based industrial inspection requires aerial platforms to maintain stable interaction while rejecting disturbances. Underactuated aerial manipulators present control challenges due to the dynamic coupling between vehicle attitude and force generation. This paper proposes a robust control framework for an underactuated hexarotor equipped with a 1-DoF manipulator to perform sustained contact inspection. The architecture integrates integral-augmented Sliding Mode Control (SMC) for trajectory tracking with an admittance control law for force regulation. The contact force is mapped to a feedforward attitude term, while the 1-DoF arm actively compensates for the tilt to maintain surface alignment. Software-in-the-loop simulations demonstrate that the SMC-based approach achieves superior tracking and coupling rejection compared to traditional PID. Furthermore, the interaction strategy achieved precise force regulation with an RMSE of 0.12N and was able to stably exert up to 20N force, confirming the system's efficacy for stable, reliable contact-based inspection.
The results demonstrate that robust simultaneous five-DoF end-effector pose and contact-force tracking is achievable on a standard underactuated quadrotor with a simple, rigid, single-link arm, without requiring a fully actuated platform, a complex arm, or dedicated force/torque sensing.
A control framework for a 3-DoF industrial manipulator that integrates nonsingular terminal sliding mode control (NTSMC), backstepping design, and a clustering-enhanced radial basis function neural network (RBFNN) is presented, demonstrating practical potential for real-time, high-precision control in uncertain industr...
Loc Nguyen, K. Phạm, Thanh T. Tran· Transactions of the Institut...· 3 citations
To enhance the tracking accuracy and compliance of unmanned excavators, a force–position heterogeneous dual-loop nested cooperative control strategy is proposed. The outer loop employs admittance control to establish a dynamic mapping between contact forces and position correction commands, converting abrupt force vari...
A fuzzy adaptive impedance method is incorporated into the robot’s compliant control framework, and a dynamic feedforward trajectory-tracking controller is proposed based on the dynamic model, and its stability is verified using a Lyapunov function.
Fan Yang, Ming Hu, Jin-Fei Bian et al.· Machines· 0 citations
Multi-link aerial robots can actively deform their articulated structures during flight, giving them strong potential for aerial manipulation. However, they still face substantial challenges in contact-rich aerial manipulation tasks such as surface sliding, which requires both disturbance robustness and compliance to u...
Zicheng Luo, Mao-Lin Lei, Jin-Jie Li et al.· 0 citations
This study presents an adaptive sliding mode control approach for trajectory tracking of a quadrotor unmanned aerial vehicle functioning under external interference and kinematic unpredictability. Linear and rotational motion equations formulated in inactive local coordinate system frames are developed with the aid of...
Muktar Fatihu Hamza· Automation· 0 citations
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